The Control Handbook (three volume set)


Book Description

At publication, The Control Handbook immediately became the definitive resource that engineers working with modern control systems required. Among its many accolades, that first edition was cited by the AAP as the Best Engineering Handbook of 1996. Now, 15 years later, William Levine has once again compiled the most comprehensive and authoritative resource on control engineering. He has fully reorganized the text to reflect the technical advances achieved since the last edition and has expanded its contents to include the multidisciplinary perspective that is making control engineering a critical component in so many fields. Now expanded from one to three volumes, The Control Handbook, Second Edition brilliantly organizes cutting-edge contributions from more than 200 leading experts representing every corner of the globe. They cover everything from basic closed-loop systems to multi-agent adaptive systems and from the control of electric motors to the control of complex networks. Progressively organized, the three volume set includes: Control System Fundamentals Control System Applications Control System Advanced Methods Any practicing engineer, student, or researcher working in fields as diverse as electronics, aeronautics, or biomedicine will find this handbook to be a time-saving resource filled with invaluable formulas, models, methods, and innovative thinking. In fact, any physicist, biologist, mathematician, or researcher in any number of fields developing or improving products and systems will find the answers and ideas they need. As with the first edition, the new edition not only stands as a record of accomplishment in control engineering but provides researchers with the means to make further advances.







Iterative Learning Control


Book Description

This monograph studies the design of robust, monotonically-convergent iterative learning controllers for discrete-time systems. It presents a unified analysis and design framework that enables designers to consider both robustness and monotonic convergence for typical uncertainty models, including parametric interval uncertainties, iteration-domain frequency uncertainty, and iteration-domain stochastic uncertainty. The book shows how to use robust iterative learning control in the face of model uncertainty.




Engineering Plasticity And Its Applications - Proceedings Of The 10th Asia-pacific Conference


Book Description

The aim is to introduce recent advances in engineering plasticity and its applications. The scope covers a wide range of topics on metals, rock soil, rubber, ceramics, polymers, composites, etc., which are involved in engineering plasticity. The papers represent a diverse nature of engineering plasticity and its application, which include constitutive modeling, damage, fracture, fatigue and failure, crash dynamics, structural plasticity, multi-scale plasticity, crystal plasticity, etc.




State Estimation and Coordinated Control for Distributed Electric Vehicles


Book Description

This book tackles some of the most challenging problems in state estimation and traction coordinated control systems to improve the dynamic control performance of Distributed Electric Vehicles. The developed methods make it possible to gain more accurate information regarding the vehicle states, ensure more desirable vehicle motions and better robustness in unforeseeable driving environments. Given the impressive features of Distributed Electric Vehicles, including their simple and compact structure, short transmission chains, fast and accurate control response, modular drivetrain design etc., it is widely recognized that they represent an important future development direction and attract many of the brightest engineers and scientists. This book makes a significant contribution to the design of safer and more efficient vehicles.




PID Control in the Third Millennium


Book Description

The early 21st century has seen a renewed interest in research in the widely-adopted proportional-integral-differential (PID) form of control. PID Control in the Third Millennium provides an overview of the advances made as a result. Featuring: new approaches for controller tuning; control structures and configurations for more efficient control; practical issues in PID implementation; and non-standard approaches to PID including fractional-order, event-based, nonlinear, data-driven and predictive control; the nearly twenty chapters provide a state-of-the-art resumé of PID controller theory, design and realization. Each chapter has specialist authorship and ideas clearly characterized from both academic and industrial viewpoints. PID Control in the Third Millennium is of interest to academics requiring a reference for the current state of PID-related research and a stimulus for further inquiry. Industrial practitioners and manufacturers of control systems with application problems relating to PID will find this to be a practical source of appropriate and advanced solutions.




Underwater Robots


Book Description

This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.




Sense and Avoid in UAS


Book Description

There is increasing interest in the potential of UAV (Unmanned Aerial Vehicle) and MAV (Micro Air Vehicle) technology and their wide ranging applications including defence missions, reconnaissance and surveillance, border patrol, disaster zone assessment and atmospheric research. High investment levels from the military sector globally is driving research and development and increasing the viability of autonomous platforms as replacements for the remotely piloted vehicles more commonly in use. UAV/UAS pose a number of new challenges, with the autonomy and in particular collision avoidance, detect and avoid, or sense and avoid, as the most challenging one, involving both regulatory and technical issues. Sense and Avoid in UAS: Research and Applications covers the problem of detect, sense and avoid in UAS (Unmanned Aircraft Systems) in depth and combines the theoretical and application results by leading academics and researchers from industry and academia. Key features: Presents a holistic view of the sense and avoid problem in the wider application of autonomous systems Includes information on human factors, regulatory issues and navigation, control, aerodynamics and physics aspects of the sense and avoid problem in UAS Provides professional, scientific and reliable content that is easy to understand, and Includes contributions from leading engineers and researchers in the field Sense and Avoid in UAS: Research and Applications is an invaluable source of original and specialised information. It acts as a reference manual for practising engineers and advanced theoretical researchers and also forms a useful resource for younger engineers and postgraduate students. With its credible sources and thorough review process, Sense and Avoid in UAS: Research and Applications provides a reliable source of information in an area that is fast expanding but scarcely covered.




Flight Formation Control


Book Description

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.




Fault Tolerant Control Schemes Using Integral Sliding Modes


Book Description

The key attribute of a Fault Tolerant Control (FTC) system is its ability to maintain overall system stability and acceptable performance in the face of faults and failures within the feedback system. In this book Integral Sliding Mode (ISM) Control Allocation (CA) schemes for FTC are described, which have the potential to maintain close to nominal fault-free performance (for the entire system response), in the face of actuator faults and even complete failures of certain actuators. Broadly an ISM controller based around a model of the plant with the aim of creating a nonlinear fault tolerant feedback controller whose closed-loop performance is established during the design process. The second approach involves retro-fitting an ISM scheme to an existing feedback controller to introduce fault tolerance. This may be advantageous from an industrial perspective, because fault tolerance can be introduced without changing the existing control loops. A high fidelity benchmark model of a large transport aircraft is used to demonstrate the efficacy of the FTC schemes. In particular a scheme based on an LPV representation has been implemented and tested on a motion flight simulator.